CAN

CAN driver modules. More...

Modules
	CAN_Exported_Constants
	CAN_Private_Functions

Data Structures
struct	CAN_InitTypeDef
	CAN init structure definition. More...
struct	CAN_FilterInitTypeDef
	CAN filter init structure definition. More...
struct	CanTxMsg
	CAN Tx message structure definition. More...
struct	CanRxMsg
	CAN Rx message structure definition. More...

Macros
#define	IS_CAN_ALL_PERIPH(PERIPH)   ((PERIPH) == CAN1)
#define	MCR_DBF   ((uint32_t)0x00010000) /* software master reset */
#define	TMIDxR_TXRQ   ((uint32_t)0x00000001) /* Transmit mailbox request */
#define	FMR_FINIT   ((uint32_t)0x00000001) /* Filter init mode */
#define	INAK_TIMEOUT   ((uint32_t)0x0000FFFF)
#define	SLAK_TIMEOUT   ((uint32_t)0x0000FFFF)
#define	CAN_FLAGS_TSR   ((uint32_t)0x08000000)
#define	CAN_FLAGS_RF1R   ((uint32_t)0x04000000)
#define	CAN_FLAGS_RF0R   ((uint32_t)0x02000000)
#define	CAN_FLAGS_MSR   ((uint32_t)0x01000000)
#define	CAN_FLAGS_ESR   ((uint32_t)0x00F00000)
#define	CAN_TXMAILBOX_0   ((uint8_t)0x00)
#define	CAN_TXMAILBOX_1   ((uint8_t)0x01)
#define	CAN_TXMAILBOX_2   ((uint8_t)0x02)
#define	CAN_MODE_MASK   ((uint32_t) 0x00000003)

Functions
void	CAN_DeInit (CAN_TypeDef *CANx)
	Deinitializes the CAN peripheral registers to their default reset values. More...
uint8_t	CAN_Init (CAN_TypeDef *CANx, CAN_InitTypeDef *CAN_InitStruct)
	Initializes the CAN peripheral according to the specified parameters in the CAN_InitStruct. More...
void	CAN_FilterInit (CAN_FilterInitTypeDef *CAN_FilterInitStruct)
	Configures the CAN reception filter according to the specified parameters in the CAN_FilterInitStruct. More...
void	CAN_StructInit (CAN_InitTypeDef *CAN_InitStruct)
	Fills each CAN_InitStruct member with its default value. More...
void	CAN_SlaveStartBank (uint8_t CAN_BankNumber)
	Select the start bank filter for slave CAN. More...
void	CAN_DBGFreeze (CAN_TypeDef *CANx, FunctionalState NewState)
	Enables or disables the DBG Freeze for CAN. More...
void	CAN_TTComModeCmd (CAN_TypeDef *CANx, FunctionalState NewState)
	Enables or disables the CAN Time TriggerOperation communication mode. More...
uint8_t	CAN_Transmit (CAN_TypeDef *CANx, CanTxMsg *TxMessage)
	Initiates and transmits a CAN frame message. More...
uint8_t	CAN_TransmitStatus (CAN_TypeDef *CANx, uint8_t TransmitMailbox)
	Checks the transmission status of a CAN Frame. More...
void	CAN_CancelTransmit (CAN_TypeDef *CANx, uint8_t Mailbox)
	Cancels a transmit request. More...
void	CAN_Receive (CAN_TypeDef *CANx, uint8_t FIFONumber, CanRxMsg *RxMessage)
	Receives a correct CAN frame. More...
void	CAN_FIFORelease (CAN_TypeDef *CANx, uint8_t FIFONumber)
	Releases the specified receive FIFO. More...
uint8_t	CAN_MessagePending (CAN_TypeDef *CANx, uint8_t FIFONumber)
	Returns the number of pending received messages. More...
uint8_t	CAN_OperatingModeRequest (CAN_TypeDef *CANx, uint8_t CAN_OperatingMode)
	Selects the CAN Operation mode. More...
uint8_t	CAN_Sleep (CAN_TypeDef *CANx)
	Enters the Sleep (low power) mode. More...
uint8_t	CAN_WakeUp (CAN_TypeDef *CANx)
	Wakes up the CAN peripheral from sleep mode . More...
uint8_t	CAN_GetLastErrorCode (CAN_TypeDef *CANx)
	Returns the CANx's last error code (LEC). More...
uint8_t	CAN_GetReceiveErrorCounter (CAN_TypeDef *CANx)
	Returns the CANx Receive Error Counter (REC). More...
uint8_t	CAN_GetLSBTransmitErrorCounter (CAN_TypeDef *CANx)
	Returns the LSB of the 9-bit CANx Transmit Error Counter(TEC). More...
void	CAN_ITConfig (CAN_TypeDef *CANx, uint32_t CAN_IT, FunctionalState NewState)
	Enables or disables the specified CANx interrupts. More...
FlagStatus	CAN_GetFlagStatus (CAN_TypeDef *CANx, uint32_t CAN_FLAG)
	Checks whether the specified CAN flag is set or not. More...
void	CAN_ClearFlag (CAN_TypeDef *CANx, uint32_t CAN_FLAG)
	Clears the CAN's pending flags. More...
ITStatus	CAN_GetITStatus (CAN_TypeDef *CANx, uint32_t CAN_IT)
	Checks whether the specified CANx interrupt has occurred or not. More...
void	CAN_ClearITPendingBit (CAN_TypeDef *CANx, uint32_t CAN_IT)
	Clears the CANx's interrupt pending bits. More...

Detailed Description

CAN driver modules.

Function Documentation

void CAN_CancelTransmit	(	CAN_TypeDef *	CANx,
		uint8_t	Mailbox
	)

Cancels a transmit request.

Parameters

CANx,:	where x can be 1 to select the CAN1 peripheral.
Mailbox,:	Mailbox number.

Return values

None

void CAN_ClearFlag	(	CAN_TypeDef *	CANx,
		uint32_t	CAN_FLAG
	)

Clears the CAN's pending flags.

Parameters

CANx,:

where x can be 1 or 2 to to select the CAN peripheral.

CAN_FLAG,:

specifies the flag to clear. This parameter can be one of the following values: CAN_FLAG_RQCP0: Request MailBox0 Flag CAN_FLAG_RQCP1: Request MailBox1 Flag CAN_FLAG_RQCP2: Request MailBox2 Flag CAN_FLAG_FF0: FIFO 0 Full Flag CAN_FLAG_FOV0: FIFO 0 Overrun Flag CAN_FLAG_FF1: FIFO 1 Full Flag CAN_FLAG_FOV1: FIFO 1 Overrun Flag CAN_FLAG_WKU: Wake up Flag CAN_FLAG_SLAK: Sleep acknowledge Flag CAN_FLAG_LEC: Last error code Flag

Return values

None

void CAN_ClearITPendingBit	(	CAN_TypeDef *	CANx,
		uint32_t	CAN_IT
	)

Clears the CANx's interrupt pending bits.

Parameters

CANx,:

where x can be 1 or 2 to to select the CAN peripheral.

CAN_IT,:

specifies the interrupt pending bit to clear. This parameter can be one of the following values: CAN_IT_TME: Transmit mailbox empty Interrupt CAN_IT_FF0: FIFO 0 full Interrupt CAN_IT_FOV0: FIFO 0 overrun Interrupt CAN_IT_FF1: FIFO 1 full Interrupt CAN_IT_FOV1: FIFO 1 overrun Interrupt CAN_IT_WKU: Wake-up Interrupt CAN_IT_SLK: Sleep acknowledge Interrupt CAN_IT_EWG: Error warning Interrupt CAN_IT_EPV: Error passive Interrupt CAN_IT_BOF: Bus-off Interrupt CAN_IT_LEC: Last error code Interrupt CAN_IT_ERR: Error Interrupt

Return values

None

void CAN_DBGFreeze	(	CAN_TypeDef *	CANx,
		FunctionalState	NewState
	)

Enables or disables the DBG Freeze for CAN.

Parameters

CANx,:	where x can be 1 or 2 to to select the CAN peripheral.
NewState,:	new state of the CAN peripheral. This parameter can be: ENABLE (CAN reception/transmission is frozen during debug. Reception FIFOs can still be accessed/controlled normally) or DISABLE (CAN is working during debug).

Return values

None

void CAN_DeInit

(

CAN_TypeDef *

CANx

)

Deinitializes the CAN peripheral registers to their default reset values.

Parameters

CANx,:

where x can be 1 to select the CAN1 peripheral.

Return values

None

void CAN_FIFORelease	(	CAN_TypeDef *	CANx,
		uint8_t	FIFONumber
	)

Releases the specified receive FIFO.

Parameters

CANx,:	where x can be 1 to select the CAN1 peripheral.
FIFONumber,:	FIFO to release, CAN_FIFO0 or CAN_FIFO1.

Return values

None

void CAN_FilterInit

(

CAN_FilterInitTypeDef *

CAN_FilterInitStruct

)

Configures the CAN reception filter according to the specified parameters in the CAN_FilterInitStruct.

Parameters

CAN_FilterInitStruct,:

pointer to a CAN_FilterInitTypeDef structure that contains the configuration information.

Return values

None

FlagStatus CAN_GetFlagStatus	(	CAN_TypeDef *	CANx,
		uint32_t	CAN_FLAG
	)

Checks whether the specified CAN flag is set or not.

Parameters

CANx,:

where x can be 1 or 2 to to select the CAN peripheral.

CAN_FLAG,:

specifies the flag to check. This parameter can be one of the following values: CAN_FLAG_RQCP0: Request MailBox0 Flag CAN_FLAG_RQCP1: Request MailBox1 Flag CAN_FLAG_RQCP2: Request MailBox2 Flag CAN_FLAG_FMP0: FIFO 0 Message Pending Flag CAN_FLAG_FF0: FIFO 0 Full Flag CAN_FLAG_FOV0: FIFO 0 Overrun Flag CAN_FLAG_FMP1: FIFO 1 Message Pending Flag CAN_FLAG_FF1: FIFO 1 Full Flag CAN_FLAG_FOV1: FIFO 1 Overrun Flag CAN_FLAG_WKU: Wake up Flag CAN_FLAG_SLAK: Sleep acknowledge Flag CAN_FLAG_EWG: Error Warning Flag CAN_FLAG_EPV: Error Passive Flag CAN_FLAG_BOF: Bus-Off Flag CAN_FLAG_LEC: Last error code Flag

Return values

The	new state of CAN_FLAG (SET or RESET).

ITStatus CAN_GetITStatus	(	CAN_TypeDef *	CANx,
		uint32_t	CAN_IT
	)

Checks whether the specified CANx interrupt has occurred or not.

Parameters

CANx,:

where x can be 1 or 2 to to select the CAN peripheral.

CAN_IT,:

specifies the CAN interrupt source to check. This parameter can be one of the following values: CAN_IT_TME: Transmit mailbox empty Interrupt CAN_IT_FMP0: FIFO 0 message pending Interrupt CAN_IT_FF0: FIFO 0 full Interrupt CAN_IT_FOV0: FIFO 0 overrun Interrupt CAN_IT_FMP1: FIFO 1 message pending Interrupt CAN_IT_FF1: FIFO 1 full Interrupt CAN_IT_FOV1: FIFO 1 overrun Interrupt CAN_IT_WKU: Wake-up Interrupt CAN_IT_SLK: Sleep acknowledge Interrupt CAN_IT_EWG: Error warning Interrupt CAN_IT_EPV: Error passive Interrupt CAN_IT_BOF: Bus-off Interrupt CAN_IT_LEC: Last error code Interrupt CAN_IT_ERR: Error Interrupt

Return values

The	current state of CAN_IT (SET or RESET).

uint8_t CAN_GetLastErrorCode

(

CAN_TypeDef *

CANx

)

Returns the CANx's last error code (LEC).

Parameters

CANx,:

where x can be 1 to select the CAN1 peripheral.

Return values

Error

code: CAN_ErrorCode_NoErr: No Error CAN_ErrorCode_StuffErr: Stuff Error CAN_ErrorCode_FormErr: Form Error CAN_ErrorCode_ACKErr : Acknowledgment Error CAN_ErrorCode_BitRecessiveErr: Bit Recessive Error CAN_ErrorCode_BitDominantErr: Bit Dominant Error CAN_ErrorCode_CRCErr: CRC Error CAN_ErrorCode_SoftwareSetErr: Software Set Error

uint8_t CAN_GetLSBTransmitErrorCounter

(

CAN_TypeDef *

CANx

)

Returns the LSB of the 9-bit CANx Transmit Error Counter(TEC).

Parameters

CANx,:

where x can be 1 or 2 to to select the CAN peripheral.

Return values

LSB	of the 9-bit CAN Transmit Error Counter.

uint8_t CAN_GetReceiveErrorCounter

(

CAN_TypeDef *

CANx

)

Returns the CANx Receive Error Counter (REC).

Note

In case of an error during reception, this counter is incremented by 1 or by 8 depending on the error condition as defined by the CAN standard. After every successful reception, the counter is decremented by 1 or reset to 120 if its value was higher than 128. When the counter value exceeds 127, the CAN controller enters the error passive state.

Parameters

CANx,:

where x can be 1 or 2 to to select the CAN peripheral.

Return values

CAN	Receive Error Counter.

uint8_t CAN_Init	(	CAN_TypeDef *	CANx,
		CAN_InitTypeDef *	CAN_InitStruct
	)

Initializes the CAN peripheral according to the specified parameters in the CAN_InitStruct.

Parameters

CANx,:	where x can be 1 to select the CAN1 peripheral.
CAN_InitStruct,:	pointer to a CAN_InitTypeDef structure that contains the configuration information for the CAN peripheral.

Return values

Constant

indicates initialization succeed which will be CAN_InitStatus_Failed or CAN_InitStatus_Success.

void CAN_ITConfig	(	CAN_TypeDef *	CANx,
		uint32_t	CAN_IT,
		FunctionalState	NewState
	)

Enables or disables the specified CANx interrupts.

Parameters

CANx,:	where x can be 1 or 2 to to select the CAN peripheral.
CAN_IT,:	specifies the CAN interrupt sources to be enabled or disabled. This parameter can be: CAN_IT_TME: Transmit mailbox empty Interrupt CAN_IT_FMP0: FIFO 0 message pending Interrupt CAN_IT_FF0: FIFO 0 full Interrupt CAN_IT_FOV0: FIFO 0 overrun Interrupt CAN_IT_FMP1: FIFO 1 message pending Interrupt CAN_IT_FF1: FIFO 1 full Interrupt CAN_IT_FOV1: FIFO 1 overrun Interrupt CAN_IT_WKU: Wake-up Interrupt CAN_IT_SLK: Sleep acknowledge Interrupt CAN_IT_EWG: Error warning Interrupt CAN_IT_EPV: Error passive Interrupt CAN_IT_BOF: Bus-off Interrupt CAN_IT_LEC: Last error code Interrupt CAN_IT_ERR: Error Interrupt
NewState,:	new state of the CAN interrupts. This parameter can be: ENABLE or DISABLE.

Return values

None

uint8_t CAN_MessagePending	(	CAN_TypeDef *	CANx,
		uint8_t	FIFONumber
	)

Returns the number of pending received messages.

Parameters

CANx,:	where x can be 1 to select the CAN1 peripheral.
FIFONumber,:	Receive FIFO number, CAN_FIFO0 or CAN_FIFO1.

Return values

NbMessage

: which is the number of pending message.

uint8_t CAN_OperatingModeRequest	(	CAN_TypeDef *	CANx,
		uint8_t	CAN_OperatingMode
	)

Selects the CAN Operation mode.

Parameters

CAN_OperatingMode,:

CAN Operating Mode. This parameter can be one of CAN_OperatingMode_status.

Return values

status

of the requested mode which can be CAN_ModeStatus_Failed: CAN failed entering the specific mode CAN_ModeStatus_Success: CAN Succeed entering the specific mode

void CAN_Receive	(	CAN_TypeDef *	CANx,
		uint8_t	FIFONumber,
		CanRxMsg *	RxMessage
	)

Receives a correct CAN frame.

Parameters

CANx,:	where x can be 1 to select the CAN1 peripheral.
FIFONumber,:	Receive FIFO number, CAN_FIFO0 or CAN_FIFO1.
RxMessage,:	pointer to a structure receive frame which contains CAN Id, CAN DLC, CAN data and FMI number.

Return values

None

void CAN_SlaveStartBank

(

uint8_t

CAN_BankNumber

)

Select the start bank filter for slave CAN.

Parameters

CAN_BankNumber,:

Select the start slave bank filter from 1..27.

Return values

None

uint8_t CAN_Sleep

(

CAN_TypeDef *

CANx

)

Enters the Sleep (low power) mode.

Parameters

CANx,:

where x can be 1 to select the CAN1 peripheral.

Return values

CAN_Sleep_Ok

if sleep entered, CAN_Sleep_Failed otherwise.

void CAN_StructInit

(

CAN_InitTypeDef *

CAN_InitStruct

)

Fills each CAN_InitStruct member with its default value.

Parameters

CAN_InitStruct,:

pointer to a CAN_InitTypeDef structure which ill be initialized.

Return values

None

uint8_t CAN_Transmit	(	CAN_TypeDef *	CANx,
		CanTxMsg *	TxMessage
	)

Initiates and transmits a CAN frame message.

Parameters

CANx,:	where x can be 1 or 2 to to select the CAN peripheral.
TxMessage,:	pointer to a structure which contains CAN Id, CAN DLC and CAN data.

Return values

The	number of the mailbox that is used for transmission or CAN_TxStatus_NoMailBox if there is no empty mailbox.

uint8_t CAN_TransmitStatus	(	CAN_TypeDef *	CANx,
		uint8_t	TransmitMailbox
	)

Checks the transmission status of a CAN Frame.

Parameters

CANx,:	where x can be 1 to select the CAN1 peripheral.
TransmitMailbox,:	the number of the mailbox that is used for transmission.

Return values

CAN_TxStatus_Ok

if the CAN driver transmits the message, CAN_TxStatus_Failed in an other case.

void CAN_TTComModeCmd	(	CAN_TypeDef *	CANx,
		FunctionalState	NewState
	)

Enables or disables the CAN Time TriggerOperation communication mode.

Note

DLC must be programmed as 8 in order Time Stamp (2 bytes) to be sent over the CAN bus.

Parameters

CANx,:	where x can be 1 or 2 to to select the CAN peripheral.
NewState,:	Mode new state. This parameter can be: ENABLE or DISABLE. When enabled, Time stamp (TIME[15:0]) value is sent in the last two data bytes of the 8-byte message: TIME[7:0] in data byte 6 and TIME[15:8] in data byte 7.

Return values

None

uint8_t CAN_WakeUp

(

CAN_TypeDef *

CANx

)

Wakes up the CAN peripheral from sleep mode .

Parameters

CANx,:

where x can be 1 to select the CAN1 peripheral.

Return values

CAN_WakeUp_Ok

if sleep mode left, CAN_WakeUp_Failed otherwise.